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<div class="header">
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<div class="title">concave_hull.hpp</div>  </div>
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<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_config.h&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifdef HAVE_QHULL</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#ifndef PCL_SURFACE_IMPL_CONCAVE_HULL_H_</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#define PCL_SURFACE_IMPL_CONCAVE_HULL_H_</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/concave_hull.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/common/eigen.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="centroid_8h.html">pcl/common/centroid.h</a>&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/common/transforms.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;pcl/kdtree/kdtree_flann.h&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;stdio.h&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#include &lt;stdlib.h&gt;</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/qhull.h&gt;</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;pcl::ConcaveHull&lt;PointInT&gt;::getDim ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordflow">return</span> (getDimension ());</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;}</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;pcl::ConcaveHull&lt;PointInT&gt;::reconstruct (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;{</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a> = input_-&gt;header;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordflow">if</span> (alpha_ &lt;= 0)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::reconstruct] Alpha parameter must be set to a positive number!\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear ();</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  }</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordflow">if</span> (!initCompute ())</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear ();</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  }</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="comment">// Perform the actual surface reconstruction</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  std::vector&lt;pcl::Vertices&gt; polygons;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  performReconstruction (output, polygons);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  deinitCompute ();</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;}</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;pcl::ConcaveHull&lt;PointInT&gt;::reconstruct (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output, std::vector&lt;pcl::Vertices&gt; &amp;polygons)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;{</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a> = input_-&gt;header;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keywordflow">if</span> (alpha_ &lt;= 0)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::reconstruct] Alpha parameter must be set to a positive number!\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear ();</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordflow">if</span> (!initCompute ())</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear ();</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="comment">// Perform the actual surface reconstruction</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  performReconstruction (output, polygons);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  deinitCompute ();</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;}</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="preprocessor">#ifdef __GNUC__</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="preprocessor">#pragma GCC diagnostic ignored &quot;-Wold-style-cast&quot;</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;pcl::ConcaveHull&lt;PointInT&gt;::performReconstruction (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;alpha_shape, std::vector&lt;pcl::Vertices&gt; &amp;polygons)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;{</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  Eigen::Vector4d xyz_centroid;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a> (*input_, *indices_, xyz_centroid);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  EIGEN_ALIGN16 Eigen::Matrix3d covariance_matrix;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <a class="code" href="group__common.html#gab5ea605f439a80daf6348547379bad8e">computeCovarianceMatrixNormalized</a> (*input_, *indices_, xyz_centroid, covariance_matrix);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="comment">// Check if the covariance matrix is finite or not.</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; ++i)</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; ++j)</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (covariance_matrix.coeffRef (i, j)))</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;          <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  EIGEN_ALIGN16 Eigen::Vector3d eigen_values;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  EIGEN_ALIGN16 Eigen::Matrix3d eigen_vectors;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <a class="code" href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a> (covariance_matrix, eigen_vectors, eigen_values);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  Eigen::Affine3d transform1;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  transform1.setIdentity ();</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="comment">// If no input dimension is specified, determine automatically</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <span class="keywordflow">if</span> (dim_ == 0)</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s] WARNING: Input dimension not specified.  Automatically determining input dimension.\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordflow">if</span> (std::abs (eigen_values[0]) &lt; std::numeric_limits&lt;double&gt;::epsilon () || std::abs (eigen_values[0] / eigen_values[2]) &lt; 1.0e-3)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      dim_ = 2;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      dim_ = 3;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  } </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <span class="keywordflow">if</span> (dim_ == 2)</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  {</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="comment">// we have points laying on a plane, using 2d convex hull</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="comment">// compute transformation bring eigen_vectors.col(i) to z-axis</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    transform1 (2, 0) = eigen_vectors (0, 0);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    transform1 (2, 1) = eigen_vectors (1, 0);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    transform1 (2, 2) = eigen_vectors (2, 0);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    transform1 (1, 0) = eigen_vectors (0, 1);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    transform1 (1, 1) = eigen_vectors (1, 1);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    transform1 (1, 2) = eigen_vectors (2, 1);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    transform1 (0, 0) = eigen_vectors (0, 2);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    transform1 (0, 1) = eigen_vectors (1, 2);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    transform1 (0, 2) = eigen_vectors (2, 2);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  {</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    transform1.setIdentity ();</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  }</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> cloud_transformed;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a> (*input_, *indices_, xyz_centroid, cloud_transformed);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a> (cloud_transformed, cloud_transformed, transform1);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="comment">// True if qhull should free points in qh_freeqhull() or reallocation</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  boolT ismalloc = True;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="comment">// option flags for qhull, see qh_opt.htm</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="keywordtype">char</span> flags[] = <span class="stringliteral">&quot;qhull d QJ&quot;</span>;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <span class="comment">// output from qh_produce_output(), use NULL to skip qh_produce_output()</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  FILE *outfile = NULL;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <span class="comment">// error messages from qhull code</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  FILE *errfile = stderr;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <span class="comment">// 0 if no error from qhull</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  <span class="keywordtype">int</span> exitcode;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="comment">// Array of coordinates for each point</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  coordT *points = <span class="keyword">reinterpret_cast&lt;</span>coordT*<span class="keyword">&gt;</span> (calloc (cloud_transformed.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () * dim_, <span class="keyword">sizeof</span>(coordT)));</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud_transformed.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    points[i * dim_ + 0] = <span class="keyword">static_cast&lt;</span>coordT<span class="keyword">&gt;</span> (cloud_transformed.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    points[i * dim_ + 1] = <span class="keyword">static_cast&lt;</span>coordT<span class="keyword">&gt;</span> (cloud_transformed.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="keywordflow">if</span> (dim_ &gt; 2)</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      points[i * dim_ + 2] = <span class="keyword">static_cast&lt;</span>coordT<span class="keyword">&gt;</span> (cloud_transformed.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  <span class="comment">// Compute concave hull</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  exitcode = qh_new_qhull (dim_, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud_transformed.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ()), points, ismalloc, flags, outfile, errfile);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  <span class="keywordflow">if</span> (exitcode != 0)</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  {</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::performReconstrution] ERROR: qhull was unable to compute a concave hull for the given point cloud (%lu)!\n&quot;</span>, getClassName ().c_str (), cloud_transformed.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="comment">//check if it fails because of NaN values...</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordflow">if</span> (!cloud_transformed.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keywordtype">bool</span> NaNvalues = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud_transformed.size (); ++i)</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      {</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <span class="keywordflow">if</span> (!pcl_isfinite (cloud_transformed.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x) ||</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;            !pcl_isfinite (cloud_transformed.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y) ||</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;            !pcl_isfinite (cloud_transformed.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z))</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        {</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;          NaNvalues = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        }</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      }</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <span class="keywordflow">if</span> (NaNvalues)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::performReconstruction] ERROR: point cloud contains NaN values, consider running pcl::PassThrough filter first to remove NaNs!\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    }</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (0);</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 0;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    polygons.resize (0);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    qh_freeqhull (!qh_ALL);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keywordtype">int</span> curlong, totlong;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    qh_memfreeshort (&amp;curlong, &amp;totlong);</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  qh_setvoronoi_all ();</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <span class="keywordtype">int</span> num_vertices = qh num_vertices;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (num_vertices);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  vertexT *vertex;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  <span class="comment">// Max vertex id</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <span class="keywordtype">int</span> max_vertex_id = 0;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  FORALLvertices</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  {</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keywordflow">if</span> (vertex-&gt;id + 1 &gt; max_vertex_id)</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      max_vertex_id = vertex-&gt;id + 1;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  facetT *facet;    <span class="comment">// set by FORALLfacets</span></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  ++max_vertex_id;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  std::vector&lt;int&gt; qhid_to_pcidx (max_vertex_id);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <span class="keywordtype">int</span> num_facets = qh num_facets;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="keywordtype">int</span> dd = 0;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  <span class="keywordflow">if</span> (dim_ == 3)</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  {</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    setT *triangles_set = qh_settemp (4 * num_facets);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    <span class="keywordflow">if</span> (voronoi_centers_)</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      voronoi_centers_-&gt;points.resize (num_facets);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="keywordtype">int</span> non_upper = 0;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    FORALLfacets</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    {</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      <span class="comment">// Facets are tetrahedrons (3d)</span></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      <span class="keywordflow">if</span> (!facet-&gt;upperdelaunay)</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      {</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        vertexT *anyVertex = <span class="keyword">static_cast&lt;</span>vertexT*<span class="keyword">&gt;</span> (facet-&gt;vertices-&gt;e[0].p);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        <span class="keywordtype">double</span> *center = facet-&gt;center;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        <span class="keywordtype">double</span> r = qh_pointdist (anyVertex-&gt;point,center,dim_);</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;        facetT *neighb;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        <span class="keywordflow">if</span> (voronoi_centers_)</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        {</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;          voronoi_centers_-&gt;points[non_upper].x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (facet-&gt;center[0]);</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;          voronoi_centers_-&gt;points[non_upper].y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (facet-&gt;center[1]);</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;          voronoi_centers_-&gt;points[non_upper].z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (facet-&gt;center[2]);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        }</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        non_upper++;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        <span class="keywordflow">if</span> (r &lt;= alpha_)</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        {</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;          <span class="comment">// all triangles in tetrahedron are good, add them all to the alpha shape (triangles_set)</span></div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;          qh_makeridges (facet);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;          facet-&gt;good = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;          facet-&gt;visitid = qh visit_id;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;          ridgeT *ridge, **ridgep;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;          FOREACHridge_ (facet-&gt;ridges)</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;          {</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;            neighb = otherfacet_ (ridge, facet);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;            <span class="keywordflow">if</span> ((neighb-&gt;visitid != qh visit_id))</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;              qh_setappend (&amp;triangles_set, ridge);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;          }</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        }</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        {</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;          <span class="comment">// consider individual triangles from the tetrahedron...</span></div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;          facet-&gt;good = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;          facet-&gt;visitid = qh visit_id;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;          qh_makeridges (facet);</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;          ridgeT *ridge, **ridgep;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;          FOREACHridge_ (facet-&gt;ridges)</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;          {</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;            facetT *neighb;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;            neighb = otherfacet_ (ridge, facet);</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;            <span class="keywordflow">if</span> ((neighb-&gt;visitid != qh visit_id))</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;            {</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;              <span class="comment">// check if individual triangle is good and add it to triangles_set</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;              PointInT a, b, c;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;              a.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span>vertexT*<span class="keyword">&gt;</span>(ridge-&gt;vertices-&gt;e[0].p))-&gt;point[0]);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;              a.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span>vertexT*<span class="keyword">&gt;</span>(ridge-&gt;vertices-&gt;e[0].p))-&gt;point[1]);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;              a.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span>vertexT*<span class="keyword">&gt;</span>(ridge-&gt;vertices-&gt;e[0].p))-&gt;point[2]);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;              b.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span>vertexT*<span class="keyword">&gt;</span>(ridge-&gt;vertices-&gt;e[1].p))-&gt;point[0]);</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;              b.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span>vertexT*<span class="keyword">&gt;</span>(ridge-&gt;vertices-&gt;e[1].p))-&gt;point[1]);</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;              b.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span>vertexT*<span class="keyword">&gt;</span>(ridge-&gt;vertices-&gt;e[1].p))-&gt;point[2]);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;              c.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span>vertexT*<span class="keyword">&gt;</span>(ridge-&gt;vertices-&gt;e[2].p))-&gt;point[0]);</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;              c.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span>vertexT*<span class="keyword">&gt;</span>(ridge-&gt;vertices-&gt;e[2].p))-&gt;point[1]);</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;              c.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span>vertexT*<span class="keyword">&gt;</span>(ridge-&gt;vertices-&gt;e[2].p))-&gt;point[2]);</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;              <span class="keywordtype">double</span> r = <a class="code" href="group__common.html#gab64d6ba9e834d29feda71a76d3ec841f">pcl::getCircumcircleRadius</a> (a, b, c);</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;              <span class="keywordflow">if</span> (r &lt;= alpha_)</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;                qh_setappend (&amp;triangles_set, ridge);</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;            }</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;          }</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        }</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      }</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    }</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    <span class="keywordflow">if</span> (voronoi_centers_)</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      voronoi_centers_-&gt;points.resize (non_upper);</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    <span class="comment">// filter, add points to alpha_shape and create polygon structure</span></div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    <span class="keywordtype">int</span> num_good_triangles = 0;</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    ridgeT *ridge, **ridgep;</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    FOREACHridge_ (triangles_set)</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    {</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      <span class="keywordflow">if</span> (ridge-&gt;bottom-&gt;upperdelaunay || ridge-&gt;top-&gt;upperdelaunay || !ridge-&gt;top-&gt;good || !ridge-&gt;bottom-&gt;good)</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        num_good_triangles++;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    }</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    polygons.resize (num_good_triangles);</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    <span class="keywordtype">int</span> vertices = 0;</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;    std::vector&lt;bool&gt; added_vertices (max_vertex_id, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    <span class="keywordtype">int</span> triangles = 0;</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    FOREACHridge_ (triangles_set)</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    {</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      <span class="keywordflow">if</span> (ridge-&gt;bottom-&gt;upperdelaunay || ridge-&gt;top-&gt;upperdelaunay || !ridge-&gt;top-&gt;good || !ridge-&gt;bottom-&gt;good)</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      {</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        polygons[triangles].vertices.resize (3);</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        <span class="keywordtype">int</span> vertex_n, vertex_i;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;        FOREACHvertex_i_ ((*ridge).vertices)  <span class="comment">//3 vertices per ridge!</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        {</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;          <span class="keywordflow">if</span> (!added_vertices[vertex-&gt;id])</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;          {</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;            alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[vertices].x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (vertex-&gt;point[0]);</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;            alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[vertices].y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (vertex-&gt;point[1]);</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;            alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[vertices].z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (vertex-&gt;point[2]);</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;            qhid_to_pcidx[vertex-&gt;id] = vertices;   <span class="comment">//map the vertex id of qhull to the point cloud index</span></div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;            added_vertices[vertex-&gt;id] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;            vertices++;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;          }</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160; </div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;          polygons[triangles].vertices[vertex_i] = qhid_to_pcidx[vertex-&gt;id];</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160; </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;        }</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        triangles++;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;      }</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    }</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (vertices);</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  }</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  {</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    <span class="comment">// Compute the alpha complex for the set of points</span></div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    <span class="comment">// Filters the delaunay triangles</span></div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    setT *edges_set = qh_settemp (3 * num_facets);</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    <span class="keywordflow">if</span> (voronoi_centers_)</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      voronoi_centers_-&gt;points.resize (num_facets);</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160; </div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    FORALLfacets</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    {</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      <span class="comment">// Facets are the delaunay triangles (2d)</span></div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      <span class="keywordflow">if</span> (!facet-&gt;upperdelaunay)</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;      {</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;        <span class="comment">// Check if the distance from any vertex to the facet-&gt;center</span></div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;        <span class="comment">// (center of the voronoi cell) is smaller than alpha</span></div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;        vertexT *anyVertex = <span class="keyword">static_cast&lt;</span>vertexT*<span class="keyword">&gt;</span>(facet-&gt;vertices-&gt;e[0].p);</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;        <span class="keywordtype">double</span> r = (sqrt ((anyVertex-&gt;point[0] - facet-&gt;center[0]) *</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;                          (anyVertex-&gt;point[0] - facet-&gt;center[0]) +</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;                          (anyVertex-&gt;point[1] - facet-&gt;center[1]) *</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;                          (anyVertex-&gt;point[1] - facet-&gt;center[1])));</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;        <span class="keywordflow">if</span> (r &lt;= alpha_)</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;        {</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;          <a class="code" href="structpcl_1_1_vertices.html">pcl::Vertices</a> facet_vertices;   <span class="comment">//TODO: is not used!!</span></div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;          qh_makeridges (facet);</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;          facet-&gt;good = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;          ridgeT *ridge, **ridgep;</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;          FOREACHridge_ (facet-&gt;ridges)</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;          qh_setappend (&amp;edges_set, ridge);</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160; </div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;          if (voronoi_centers_)</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;          {</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;            voronoi_centers_-&gt;points[dd].x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (facet-&gt;center[0]);</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;            voronoi_centers_-&gt;points[dd].y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (facet-&gt;center[1]);</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;            voronoi_centers_-&gt;points[dd].z = 0.0f;</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;          }</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160; </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;          ++dd;</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;        }</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;          facet-&gt;good = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;      }</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    }</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160; </div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    <span class="keywordtype">int</span> vertices = 0;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    std::vector&lt;bool&gt; added_vertices (max_vertex_id, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    std::map&lt;int, std::vector&lt;int&gt; &gt; edges;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160; </div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    ridgeT *ridge, **ridgep;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;    FOREACHridge_ (edges_set)</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    {</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;      <span class="keywordflow">if</span> (ridge-&gt;bottom-&gt;upperdelaunay || ridge-&gt;top-&gt;upperdelaunay || !ridge-&gt;top-&gt;good || !ridge-&gt;bottom-&gt;good)</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;      {</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;        <span class="keywordtype">int</span> vertex_n, vertex_i;</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;        <span class="keywordtype">int</span> vertices_in_ridge=0;</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;        std::vector&lt;int&gt; pcd_indices;</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;        pcd_indices.resize (2);</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;        FOREACHvertex_i_ ((*ridge).vertices)  <span class="comment">//in 2-dim, 2 vertices per ridge!</span></div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;        {</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;          <span class="keywordflow">if</span> (!added_vertices[vertex-&gt;id])</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;          {</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;            alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[vertices].x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (vertex-&gt;point[0]);</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;            alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[vertices].y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (vertex-&gt;point[1]);</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160; </div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;            <span class="keywordflow">if</span> (dim_ &gt; 2)</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;              alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[vertices].z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (vertex-&gt;point[2]);</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;              alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[vertices].z = 0;</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;            qhid_to_pcidx[vertex-&gt;id] = vertices;   <span class="comment">//map the vertex id of qhull to the point cloud index</span></div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;            added_vertices[vertex-&gt;id] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;            pcd_indices[vertices_in_ridge] = vertices;</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;            vertices++;</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;          }</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;          {</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;            pcd_indices[vertices_in_ridge] = qhid_to_pcidx[vertex-&gt;id];</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;          }</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160; </div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;          vertices_in_ridge++;</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;        }</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160; </div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;        <span class="comment">// make edges bidirectional and pointing to alpha_shape pointcloud...</span></div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;        edges[pcd_indices[0]].push_back (pcd_indices[1]);</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;        edges[pcd_indices[1]].push_back (pcd_indices[0]);</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;      }</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;    }</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160; </div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;    alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (vertices);</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160; </div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;    std::vector&lt;std::vector&lt;int&gt; &gt; connected;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;    <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> alpha_shape_sorted;</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;    alpha_shape_sorted.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (vertices);</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160; </div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;    <span class="comment">// iterate over edges until they are empty!</span></div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;    std::map&lt;int, std::vector&lt;int&gt; &gt;::iterator curr = edges.begin ();</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;    <span class="keywordtype">int</span> next = - 1;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;    std::vector&lt;bool&gt; used (vertices, <span class="keyword">false</span>);   <span class="comment">// used to decide which direction should we take!</span></div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;    std::vector&lt;int&gt; pcd_idx_start_polygons;</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;    pcd_idx_start_polygons.push_back (0);</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160; </div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;    <span class="comment">// start following edges and removing elements</span></div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    <span class="keywordtype">int</span> sorted_idx = 0;</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;    <span class="keywordflow">while</span> (!edges.empty ())</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;    {</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;      alpha_shape_sorted.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[sorted_idx] = alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(*curr).first];</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;      <span class="comment">// check where we can go from (*curr).first</span></div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; (*curr).second.size (); i++)</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;      {</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;        <span class="keywordflow">if</span> (!used[((*curr).second)[i]])</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;        {</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;          <span class="comment">// we can go there</span></div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;          next = ((*curr).second)[i];</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;        }</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;      }</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160; </div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;      used[(*curr).first] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;      edges.erase (curr);   <span class="comment">// remove edges starting from curr</span></div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160; </div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;      sorted_idx++;</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;      <span class="keywordflow">if</span> (edges.empty ())</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160; </div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;      <span class="comment">// reassign current</span></div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;      curr = edges.find (next);   <span class="comment">// if next is not found, then we have unconnected polygons.</span></div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;      <span class="keywordflow">if</span> (curr == edges.end ())</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;      {</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;        <span class="comment">// set current to any of the remaining in edge!</span></div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;        curr = edges.begin ();</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;        pcd_idx_start_polygons.push_back (sorted_idx);</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;      }</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;    }</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160; </div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;    pcd_idx_start_polygons.push_back (sorted_idx);</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160; </div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;    alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a> = alpha_shape_sorted.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>;</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160; </div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;    polygons.reserve (pcd_idx_start_polygons.size () - 1);</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160; </div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> poly_id = 0; poly_id &lt; pcd_idx_start_polygons.size () - 1; poly_id++)</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;    {</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;      <span class="comment">// Check if we actually have a polygon, and not some degenerated output from QHull</span></div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;      <span class="keywordflow">if</span> (pcd_idx_start_polygons[poly_id + 1] - pcd_idx_start_polygons[poly_id] &gt;= 3)</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;      {</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;        <a class="code" href="structpcl_1_1_vertices.html">pcl::Vertices</a> vertices;</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;        vertices.vertices.resize (pcd_idx_start_polygons[poly_id + 1] - pcd_idx_start_polygons[poly_id]);</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;        <span class="comment">// populate points in the corresponding polygon</span></div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = pcd_idx_start_polygons[poly_id]; j &lt; pcd_idx_start_polygons[poly_id + 1]; ++j)</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;          vertices.vertices[j - pcd_idx_start_polygons[poly_id]] = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (j);</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160; </div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;        polygons.push_back (vertices);</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;      }</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;    }</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160; </div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;    <span class="keywordflow">if</span> (voronoi_centers_)</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;      voronoi_centers_-&gt;points.resize (dd);</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;  }</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160; </div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;  qh_freeqhull (!qh_ALL);</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;  <span class="keywordtype">int</span> curlong, totlong;</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;  qh_memfreeshort (&amp;curlong, &amp;totlong);</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160; </div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;  Eigen::Affine3d transInverse = transform1.inverse ();</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;  <a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a> (alpha_shape, alpha_shape, transInverse);</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;  xyz_centroid[0] = - xyz_centroid[0];</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;  xyz_centroid[1] = - xyz_centroid[1];</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;  xyz_centroid[2] = - xyz_centroid[2];</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a> (alpha_shape, xyz_centroid, alpha_shape);</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160; </div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  <span class="comment">// also transform voronoi_centers_...</span></div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;  <span class="keywordflow">if</span> (voronoi_centers_)</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;  {</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;    <a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a> (*voronoi_centers_, *voronoi_centers_, transInverse);</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;    <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a> (*voronoi_centers_, xyz_centroid, *voronoi_centers_);</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;  }</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160; </div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;  <span class="keywordflow">if</span> (keep_information_)</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;  {</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;    <span class="comment">// build a tree with the original points</span></div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;    <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html">pcl::KdTreeFLANN&lt;PointInT&gt;</a> tree (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;    tree.setInputCloud (input_, indices_);</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160; </div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;    std::vector&lt;int&gt; neighbor;</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;    std::vector&lt;float&gt; distances;</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;    neighbor.resize (1);</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;    distances.resize (1);</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160; </div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;    <span class="comment">// for each point in the concave hull, search for the nearest neighbor in the original point cloud</span></div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;    hull_indices_.header = input_-&gt;header;</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;    hull_indices_.indices.clear ();</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;    hull_indices_.indices.reserve (alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160; </div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;    {</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;      tree.nearestKSearch (alpha_shape.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i], 1, neighbor, distances);</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;      hull_indices_.indices.push_back (neighbor[0]);</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;    }</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160; </div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;    <span class="comment">// replace point with the closest neighbor in the original point cloud</span></div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;    <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*input_, hull_indices_.indices, alpha_shape);</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;  }</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;}</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;<span class="preprocessor">#ifdef __GNUC__</span></div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;<span class="preprocessor">#pragma GCC diagnostic warning &quot;-Wold-style-cast&quot;</span></div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160; </div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;pcl::ConcaveHull&lt;PointInT&gt;::performReconstruction (PolygonMesh &amp;output)</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;{</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;  <span class="comment">// Perform reconstruction</span></div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> hull_points;</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;  performReconstruction (hull_points, output.polygons);</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160; </div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;  <span class="comment">// Convert the PointCloud into a PCLPointCloud2</span></div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;  pcl::toPCLPointCloud2 (hull_points, output.cloud);</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;}</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160; </div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;pcl::ConcaveHull&lt;PointInT&gt;::performReconstruction (std::vector&lt;pcl::Vertices&gt; &amp;polygons)</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;{</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> hull_points;</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;  performReconstruction (hull_points, polygons);</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;}</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160; </div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;pcl::ConcaveHull&lt;PointInT&gt;::getHullPointIndices (<a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;hull_point_indices)<span class="keyword"> const</span></div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;  hull_point_indices = hull_indices_;</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;}</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160; </div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_ConcaveHull(T) template class PCL_EXPORTS pcl::ConcaveHull&lt;T&gt;;</span></div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160; </div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_SURFACE_IMPL_CONCAVE_HULL_H_</span></div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="acentroid_8h_html"><div class="ttname"><a href="centroid_8h.html">centroid.h</a></div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html">pcl::KdTreeFLANN</a></div><div class="ttdoc">KdTreeFLANN is a generic type of 3D spatial locator using kD-tree structures. The class is making use...</div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a82e0be055a617e5e74102ed62712b352"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">pcl::PointCloud::header</a></div><div class="ttdeci">pcl::PCLHeader header</div><div class="ttdoc">The point cloud header. It contains information about the acquisition time.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:407</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="agroup__common_html_ga52d532f7f2b4d7bba78d13701d3a33d8"><div class="ttname"><a href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a></div><div class="ttdeci">void transformPointCloud(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, const Eigen::Transform&lt; Scalar, 3, Eigen::Affine &gt; &amp;transform, bool copy_all_fields=true)</div><div class="ttdoc">Apply an affine transform defined by an Eigen Transform</div><div class="ttdef"><b>Definition:</b> transforms.hpp:42</div></div>
<div class="ttc" id="agroup__common_html_ga7f82fbd4e17063ab86287a2543bdea88"><div class="ttname"><a href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a></div><div class="ttdeci">void demeanPointCloud(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, int npts=0)</div><div class="ttdoc">Subtract a centroid from a point cloud and return the de-meaned representation</div><div class="ttdef"><b>Definition:</b> centroid.hpp:631</div></div>
<div class="ttc" id="agroup__common_html_gaa65b1c8d782e7b776ae682679d2d948f"><div class="ttname"><a href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a></div><div class="ttdeci">PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &amp;cloud_in, const std::vector&lt; int &gt; &amp;indices, pcl::PCLPointCloud2 &amp;cloud_out)</div><div class="ttdoc">Extract the indices of a given point cloud as a new point cloud</div></div>
<div class="ttc" id="agroup__common_html_gab5ea605f439a80daf6348547379bad8e"><div class="ttname"><a href="group__common.html#gab5ea605f439a80daf6348547379bad8e">pcl::computeCovarianceMatrixNormalized</a></div><div class="ttdeci">unsigned int computeCovarianceMatrixNormalized(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix)</div><div class="ttdoc">Compute normalized the 3x3 covariance matrix of a given set of points. The result is returned as a Ei...</div><div class="ttdef"><b>Definition:</b> centroid.hpp:251</div></div>
<div class="ttc" id="agroup__common_html_gab64d6ba9e834d29feda71a76d3ec841f"><div class="ttname"><a href="group__common.html#gab64d6ba9e834d29feda71a76d3ec841f">pcl::getCircumcircleRadius</a></div><div class="ttdeci">double getCircumcircleRadius(const PointT &amp;pa, const PointT &amp;pb, const PointT &amp;pc)</div><div class="ttdoc">Compute the radius of a circumscribed circle for a triangle formed of three points pa,...</div><div class="ttdef"><b>Definition:</b> common.hpp:376</div></div>
<div class="ttc" id="agroup__common_html_gaca873868052e7d26efcf4b684a17bef2"><div class="ttname"><a href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a></div><div class="ttdeci">void eigen33(const Matrix &amp;mat, typename Matrix::Scalar &amp;eigenvalue, Vector &amp;eigenvector)</div><div class="ttdoc">determines the eigenvector and eigenvalue of the smallest eigenvalue of the symmetric positive semi d...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:251</div></div>
<div class="ttc" id="agroup__common_html_gaf5729fae15603888b49743b118025290"><div class="ttname"><a href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a></div><div class="ttdeci">unsigned int compute3DCentroid(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the 3D (X-Y-Z) centroid of a set of points and return it as a 3D vector.</div><div class="ttdef"><b>Definition:</b> centroid.hpp:50</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
<div class="ttc" id="astructpcl_1_1_vertices_html"><div class="ttname"><a href="structpcl_1_1_vertices.html">pcl::Vertices</a></div><div class="ttdoc">Describes a set of vertices in a polygon mesh, by basically storing an array of indices.</div><div class="ttdef"><b>Definition:</b> Vertices.h:15</div></div>
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